RobotController

class wpilib.RobotController

Bases: pybind11_object

static getBatteryVoltage() volts

Read the battery voltage.

Returns:

The battery voltage in Volts.

static getBrownoutVoltage() volts

Get the current brownout voltage setting.

Returns:

The brownout voltage

static getCANStatus() wpilib._wpilib.CANStatus

Get the current status of the CAN bus.

Returns:

The status of the CAN bus

static getComments() str

Return the comments from the roboRIO web interface.

The comments string is cached after the first call to this function on the RoboRIO - restart the robot code to reload the comments string after changing it in the web interface.

Returns:

The comments from the roboRIO web interface.

static getCurrent3V3() float

Get the current output of the 3.3V rail.

Returns:

The controller 3.3V rail output current value in Amps

static getCurrent5V() float

Get the current output of the 5V rail.

Returns:

The controller 5V rail output current value in Amps

static getCurrent6V() float

Get the current output of the 6V rail.

Returns:

The controller 6V rail output current value in Amps

static getEnabled3V3() bool

Get the enabled state of the 3.3V rail. The rail may be disabled due to a controller brownout, a short circuit on the rail, or controller over-voltage.

Returns:

The controller 3.3V rail enabled value. True for enabled.

static getEnabled5V() bool

Get the enabled state of the 5V rail. The rail may be disabled due to a controller brownout, a short circuit on the rail, or controller over-voltage.

Returns:

The controller 5V rail enabled value. True for enabled.

static getEnabled6V() bool

Get the enabled state of the 6V rail. The rail may be disabled due to a controller brownout, a short circuit on the rail, or controller over-voltage.

Returns:

The controller 6V rail enabled value. True for enabled.

static getFPGARevision() int

Return the FPGA Revision number.

The format of the revision is 3 numbers. The 12 most significant bits are the Major Revision. The next 8 bits are the Minor Revision. The 12 least significant bits are the Build Number.

Returns:

FPGA Revision number.

static getFPGATime() int

Read the microsecond-resolution timer on the FPGA.

Returns:

The current time in microseconds according to the FPGA (since FPGA reset).

static getFPGAVersion() int

Return the FPGA Version number.

For now, expect this to be competition year.

Returns:

FPGA Version number.

static getFaultCount3V3() int

Get the count of the total current faults on the 3.3V rail since the controller has booted.

Returns:

The number of faults

static getFaultCount5V() int

Get the count of the total current faults on the 5V rail since the controller has booted.

Returns:

The number of faults

static getFaultCount6V() int

Get the count of the total current faults on the 6V rail since the controller has booted.

Returns:

The number of faults.

static getInputCurrent() float

Get the input current to the robot controller.

Returns:

The controller input current value in Amps

static getInputVoltage() float

Get the input voltage to the robot controller.

Returns:

The controller input voltage value in Volts

static getSerialNumber() str

Return the serial number of the roboRIO.

Returns:

The serial number of the roboRIO.

static getUserButton() bool

Get the state of the “USER” button on the roboRIO.

Returns:

True if the button is currently pressed down

static getVoltage3V3() float

Get the voltage of the 3.3V rail.

Returns:

The controller 3.3V rail voltage value in Volts

static getVoltage5V() float

Get the voltage of the 5V rail.

Returns:

The controller 5V rail voltage value in Volts

static getVoltage6V() float

Get the voltage of the 6V rail.

Returns:

The controller 6V rail voltage value in Volts

static isBrownedOut() bool

Check if the system is browned out.

Returns:

True if the system is browned out

static isSysActive() bool

Check if the FPGA outputs are enabled.

The outputs may be disabled if the robot is disabled or e-stopped, the watchdog has expired, or if the roboRIO browns out.

Returns:

True if the FPGA outputs are enabled.

static setBrownoutVoltage(brownoutVoltage: volts) None

Set the voltage the roboRIO will brownout and disable all outputs.

Note that this only does anything on the roboRIO 2. On the roboRIO it is a no-op.

Parameters:

brownoutVoltage – The brownout voltage